System and method for coating removal

ABSTRACT

A system for removing a coating from an underlying layer can include a wave-based weakening system configured to weaken the coating by decreasing a coupling force between the coating and the substrate, a coating removal mechanism configured to remove the weakened coating from the underlying layer, and a sensor configured to determine a property associated with the coating. A method for removing a coating from an underlying layer can include generating a weakened coating and removing the weakened coating.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/777,445, filed 10 Dec. 2018, and U.S. Provisional Application No.62/891,642, filed 26 Aug. 2019, each of which is incorporated in itsentirety by this reference.

STATEMENT OF GOVERNMENT SUPPORT

This invention was made with government support under Award Number[WP18-1347] awarded by the Strategic Environmental Research andDevelopment Program (SERDP), DOD's environment research program. Thegovernment has certain rights in the invention.

TECHNICAL FIELD

This invention relates generally to the coating removal field, and morespecifically to a new and useful system and method in the coatingremoval field.

BACKGROUND

Typically, coatings are removed using chemical treatments. Thesechemical treatments are often toxic and hazardous to the environment.Thus, there is a need in the coating removal field to create a new anduseful system and method for coating removal. This invention providessuch new and useful coating removal mechanism and method.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic representation of the method for coating removal.

FIG. 2 is a schematic representation of the system for coating removal.

FIG. 3 is a schematic representation of an example coating weakeningsystem.

FIG. 4 is a schematic representation of an example coating removalmechanism.

FIG. 5 is a schematic representation of an example coating weakeningsystem.

FIGS. 6A and 6B are schematic representations of embodiments of thesystem.

FIG. 7 is a schematic representation of an example of a system fordetermining sample properties.

FIG. 8 is a schematic representation of an example of removing a coatingin a single unitary piece.

FIGS. 9A and 9B are schematic representations of example changes inforce used to remove a coating that has not been treated with a coatingweakening system and a coating that has been treated with one or morecoating weakening systems.

FIGS. 10A and 10B are schematic representations of embodiments of thesystem.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following description of the preferred embodiments of the inventionis not intended to limit the invention to these preferred embodiments,but rather to enable any person skilled in the art to make and use thisinvention.

1. Overview.

As shown in FIG. 2, the system 100 for coating removal preferablyincludes a coating weakening system 110, and optionally includes acoating removal mechanism 120. The system can optionally include sensors130, a computing system 140, a housing 150, and/or any other suitableelements. As shown in FIG. 1, a method 200 for coating removalpreferably includes weakening coating bonds S210 and removing thecoating S220. The method can additionally or alternatively includedetermining properties associated with the sample S205, applying coatingS230, and/or any other suitable elements. The system and method functionto remove coatings from coated samples. The method is preferablyperformed using the system, but can additionally or alternatively beperformed using any suitable system.

The coated sample preferably includes a substrate and one or morecoatings (e.g., exterior coatings, primers, etc.). The coating(s) arepreferably elastomeric coatings (e.g., polyurethane, polyamide,polyimide, etc.), but can additionally or alternatively be epoxy or anysuitable coating(s) and/or coated sample. The coated sample can beplanar, curved (e.g., concave, convex), uneven, or have any othersuitable geometry. The coating can be uniform (e.g., uniform thickness,uniform composition, etc.) and/or nonuniform (e.g., varying thickness,varying composition, etc.). The coated sample can be a single unifiedpiece of material, two or more pieces of material (e.g., substrates)connected together such as with fasteners (e.g., rivets, bolts, screws,etc.), or have any other suitable number of coatings. When the coatedsample includes multiple pieces of material, the materials can be:stacked, arranged adjacent each other, or be otherwise arranged. Thesystem can be flat, curved, flexible, modular, conformal, and/orarranged in any suitable manner to weaken and remove the coating fromthe coated surface.

In a first embodiment of the technology, the technology can beimplemented in a handheld (e.g., manually operated) form factor. In thisembodiment, the system is preferably light-weight (e.g., less than 5.1pounds), portable (e.g., total system foot-print less than 4 incheshigh×10 inches long×5 inches wide), and ergonomic (e.g., includes a gripand/or handle for user operation, operable using a single hand, etc.).In examples, the system can attach to a handheld device, can bemanufactured in a handheld device (e.g., housing), and/or a handheldcoating removal system can be designed in any suitable manner. Inexamples, a handheld coating removal system can be designed to includecomponents that met lower specifications (e.g., lower maximum powers,fewer wavelengths, etc.) but can be configured to compensate for thelower specifications (e.g., by operating the system for longerdurations). However, a handheld coating removal system can be configuredin any suitable manner.

In a second embodiment of the technology, the technology can beimplemented autonomously and/or semi-autonomously. In these embodiments,the technology preferably operates independently of a user. For example,the technology can run based on a predetermined set of instructions(e.g., set at the time of manufacture, set based on the coated sample,set for each particular coated sample, etc.). However, these embodimentscan be operated remotely, manually, and/or in any suitable manner. In afirst specific example, the technology can be suspended from/mounted toa guide system (e.g., guide rail, guide arm, x/y/z gantry, etc.). Inthis example, the guide system can be used to position the technology atsuitable locations of the coated sample. In a second specific example,as shown in FIG. 10B, the technology can be coupled (e.g., connected,mounted) to a robot arm (e.g., robot arm with between one and sixdegrees of freedom, wherein the degrees of freedom can be translationaland/or rotational), wherein said robotic arm can enable the technologyto be applied to any suitable location(s) of the coated sample. In athird specific example, as shown in FIG. 10A, the technology can beattached to a robot, wherein the robot can be removably coupled thecoated sample (e.g., via suction, magnets, spikes, adhesion, gravity,etc.). In these embodiments, the technology can include a movementmechanism (e.g., wheels, treads, suction cup balls, etc.) that canenable the technology to traverse the coated sample (e.g., randomly, ina raster pattern, in a boustrophodenric pattern, deterministically suchas following a deterministic map, etc.). However, the technology can beimplemented in any suitable manner.

2. Benefits.

The system and method can confer several benefits over conventionalcoating removal mechanisms.

First, specific variants of the technology can leverage nontoxicprocesses (e.g., infrared light sources and/or ultrasonic sources) toweaken and remove the coating bonds (to the substrate and/or underlyinglayers). Since these methods do not produce byproducts or waste (e.g.,residual chemical solvent/solvent fumes), they are safer and less toxicoptions for coating removal.

Second, specific variants of the technology can facilitate facileremoval of one or more coatings from a sample. In a specific example,the use of a coating weakening system (e.g., infrared light source,ultrasonic emitter, noncontact thermal mechanism, etc.) can decrease theamount of force necessary to remove a coating, for example as shown inFIG. 9A. In a second specific example, as shown in FIG. 9B, the use ofmore than one coating weakening system (e.g., an infrared and anultrasonic coating weakening system) can further decrease the amount offorce necessary to remove a coating (e.g., weaken the coating couplingforce more than a single coating weakening system).

Third, variants of the technology can nondestructively remove thecoating from the coated sample. In a specific example, the technologycan remove the coating in a single unitary piece or section (for exampleas shown in FIG. 8). Removing the coating in a unitary piece candecrease the amount of waste generated, improve the extent of coatingremoval, and facilitate recycling of the removed coating.

Fourth, variants of the technology can ensure that the underlying layers(e.g., substrate, primer, lower coating, etc.) are not damaged. Inexamples, using nondestructive (e.g., low energy, targeted, etc.)mechanisms for coating weakening (such as illumination with light,radiative heating, ultrasonic emitters, etc.) and coating removal (suchas friction wheels) can ensure that the underlying layers remain intact.

However, variants of the technology can confer any other suitablebenefits.

3. System.

The system for coating removal preferably includes one or more coatingweakening systems 110 and optionally, one or more coating removalmechanisms 120, but can additionally or alternatively include sensors130, computing system 140, housing 150, and/or any other suitableelements. The housing is preferably a unitary housing to which allelements are mounted, but additionally or alternatively the system caninclude one or more housings with one or more elements in each housing,and/or be configured in any suitable manner.

3.1 Coating Weakening System.

The coating weakening system 110 (e.g., bond weakening system)preferably functions to decrease (e.g., weaken) a coupling force (e.g.,the bonds, interactions, etc.) between the coating and the underlyinglayer (e.g., primer, substrate, underlying coating, etc.). However, thecoating weakening system 100 can function to weaken bonds within thecoating(s), between adjacent coatings, at the interface (e.g., betweenthe coating and the underlying layer), or weaken any other suitablebond.

The coating weakening system 110 is preferably coupled (e.g., attached)to the housing. The coating weakening system can be coupled to one ormore of a top of the housing, a side of the housing, a bottom of thehousing, and/or can be attached to the housing in any suitable manner.The coating weakening system can be coupled to the housing by fasteners(e.g., screws, bolts, adhesives, etc.), by construction (e.g., thecoating weakening system can be integrated into the housing, the housingcan retain the coating weakening system, etc.), by one or more biasmechanisms, and/or in any suitable manner. The coating weakening systemis preferably oriented toward an opening defined by the housing.However, the coating weakening system can be oriented toward the top ofthe housing, the bottom of the housing, the sides of the housing, thesample, and/or in any suitable direction. The coating weakening systemis preferably arranged behind one or more sensors. However, the coatingweakening system can be arranged in front of, adjacent to, be integratedwith, and/or be arranged with any suitable orientation relative to thesensors. The coating weakening system is preferably arranged in front ofthe coating removal mechanism. However, the coating weakening system canbe arranged behind, adjacent to, integrated with, above, below, and/orarranged in any suitable manner relative to the coating removalmechanism. In operation, the coating weakening system preferably opposesthe substrate across the coating, and is preferably coupled to thecoating (e.g., via a working fluid or coupling medium, such as air orwater). However, the coating weakening system can be otherwise arranged.

The coating weakening system preferably opposes the substrate across thecoating (and/or opening) at a fixed height, but can additionally oralternatively be set to a dynamically adjustable height (e.g., inresponse to a feedback loop, based on sensor readings, based ondetection of foreign contamination on the coating, etc.), depend oncoating properties or sample properties associated with the coating orsample (e.g., coating thickness, height, material composition, spatialvariations in the coating across the sample, contact pressure, etc.),and/or set in any suitable manner. In specific examples of the systemincluding more than one coating weakening system, the heights for eachof the coating weakening systems can be set the same way, to the sameheight, to different heights (e.g., based on sample properties, coatingproperties), some can be at the same height and some at differentheights, and/or the heights can be set in any suitable manner.

In variants, the coating weakening system can be reorientable. This canbe particularly useful when the coated samples have nonuniform coatingthicknesses or are curved coated samples, but can additionally oralternatively be used to accommodate for different angles of attack orotherwise used. For example, one end of the coating weakening system canbe higher than another end of the coating weakening system. In anotherexample, the orientation of the coating weakening system can be manuallyor dynamically arranged to match the coated sample geometry (e.g., bybiasing the coating weakening system within the housing). However, thecoating weakening system can be oriented in any suitable manner.

The coating weakening system is preferably a wave-based weakening system(e.g., wave-based bond weakening system, wave-based coating weakeningsystem), but can alternatively or additionally be an electrical coatingweakening system, an interference coating weakening system (e.g., usinglaser interference), a thermal coating weakening system, and/or be anyother suitable mechanism for coating (and/or interfacial bond)weakening. Each coating weakening system can include one or more of thesame or different types of wave-based weakening systems.

The wave-based coating weakening system can include wave emitters. Thewave emitters can include: light sources 112 (e.g., light emitters),sound sources 116 (e.g., senders, horns, emitters, etc.), or any othersuitable wave source. The coating weakening system can optionallyinclude optics (e.g., lenses), beamforming arrays, waveguides, or anyother suitable auxiliary components. Each wave-based coating weakeningsystem can include one or more of the same or different types of waveemitters.

The wave-based coating weakening system preferably weakens the coatingand/or bonds using waves with wave parameters that are related to (e.g.,determined based on, adjusted based on) the sample properties In oneexample, the wave-based coating weakening system can emit wavelengthsthat are matched to (e.g., selectively absorbed by, selectivelytransmitted by, selectively reflected by) the coating to be removed(e.g., optical resonances, vibrational resonances, phonon resonances,etc. of the coating). In another example, the wave-based coatingweakening system can emit wavelengths that are selectively absorbed bythe layer adjacent to the coating to be removed, such that the resultantheat generated by the adjacent layer can damage the coating to beremoved. However, the wave parameters can be unrelated to the sampleproperties and/or can be otherwise suitably defined.

The coating weakening system is preferably associated with coatingweakening system parameters. The coating weakening system parameters arepreferably system operation parameters (e.g., operation parameters),such as position (e.g., x/y/z; relative position such as relative to thecoating, to the opening, to other components, etc.; etc.), orientation(e.g., Θ, φ; relative orientation such as relative to the coating, tothe coated sample, to the opening, to other components, etc.; etc.),power output (e.g., maximum power output), amplitude, frequency,wavelength, percentage of maximum power output (e.g., 1%, 5%, 10%, 20%,30%, 40%, 50%, 6o%, 70%, 80%, 90%, 95%, 99%, 100%, etc.), flux at thecoating surface (e.g., irradiance, acoustic flux), dwell time, durationof operation (e.g., is, 2 s, 4 s, 6 s, 8 s, 10 s, 12 s, 16 s, 20 s, 30s, 60 s, 120 s, etc.), duration since operation (e.g., the amount oftime between weakening the coating and removing the coating such as is,2 s, 4 s, 10 s, 20 s, 30s, 60 s, 2 min, 5 min, 10 min, 20 min, 30 min, 1hr, etc.), power density, wave-spot size, wave focal distance, speed(e.g., relative speed of the system relative to the coating), mode ofoperation (e.g., contact mode, noncontact mode), coupling medium (e.g.,type, presence, amount, etc.), and/or any other suitable operationparameter.

The coating weakening system parameters can be predetermined,dynamically determined (e.g., based on a feedback loop, iteratively,etc.), or otherwise determined.

The coating weakening system parameters are preferably determined basedon the current sample properties (e.g., sample properties related to aspecific location of the sample, related to the coating, etc.), but canadditionally or alternatively be determined based on target sampleproperties, previous sample properties, be unrelated to the sampleproperties, be predetermined, be static, be determined based on ambientenvironment parameters (e.g., ambient humidity, temperature, pressure,etc.), and/or be determined in any other suitable manner.

Sample properties or coating properties that can be used to determinethe system parameters include: coating material, coating materialproperties (e.g., melting temperature, a vaporization temperature, anacoustic resonance frequency, thermal expansion coefficient, etc.),coating location, coating thickness, substrate composition, substratelocation, substrate thickness, and/or any other suitable parameter. Thesystem parameters can be determined based on the sample properties by:selection (e.g., from a predetermined chart or graph), calculation(e.g., using an equation relating the sample properties to the systemparameters), estimation (e.g., using a neural network trained toestimate the system parameters for a given set of sample properties),iterative determination (e.g., using a closed-feedback loop, such asbased on the force required to remove the coating), or otherwisedetermined.

In one example, the coating weakening system parameters are dynamicallydetermined by operating the coating weakening system according to afirst set of parameters (e.g., initial parameters), monitoring thecoating for measurements indicative of coating and/or bond weakening(e.g., changes in acoustics, visual signs of coating separation, etc.),optionally comparing the measurements to a set of target values, anddynamically adjusting the operation parameters based on the comparison(e.g., increasing the amplitude when the bonds are not weakening fastenough; decreasing the amplitude when the bonds are weakening tooquickly or when other coating layers or the substrate are showing signsof undesired damage). However, the operation parameters can be otherwisedetermined.

The coating weakening parameters (e.g., bond weakening parameters)preferably include wave parameters. The wave parameters are preferablycharacteristics that describe the wave. Wave parameters can include:wave intensity (e.g., power density, spectral power density, amplitude,etc.), propagation distance (e.g., distance wave can travel before beingattenuated by a fixed amount, by a percentage relative to the initialwave intensity, to below a threshold intensity, etc.), time (e.g.,duration of exposure, fixed number of wavelengths, duration sinceexposure, etc.), wavelength/frequency of the wave (e.g., radialfrequency, linear frequency, wherein frequency and wavelength arerelated by the equation λ*f=v, wherein λ is the wavelength, f is thefrequency, and v is the speed of propagation of the wave, etc.),coupling medium (e.g., air, vacuum, index of refraction matched materialbetween wave-based coating bond weakening system and coating, partiallyindex of refraction matched material between wave-based coating bondweakening system and coating, liquids such as: water, gels, solvents,etc.), collimation state (e.g., focused waves, collimated waves,partially focused waves, etc.), and/or any suitable wave parameters.

The wave based coating weakening system is preferably configured to emita range of wavelengths (e.g., range 0.7-8 μm, 1-3 μm, 3-6 μm, 5-20 μm,1-3 μm, 400-700 nm, 10-400 nm, >20 μm, <10 nm, 4.8-16.5 mm, <1.9cm, >1.9 cm, etc.). The wavelength(s) can depend on the environmentalconditions (e.g., humidity, temperature, elevation, etc.), the couplingmedium, sample properties, and/or any suitable property. Additionally oralternatively, the wave based coating weakening system can be configuredto be a subset of the range of wavelengths, (e.g., a continuous rangesuch as: 1.4-3 μm, 0.7-1.4 μm, 3-4 μm, 1-6 μm, 8-10 μm, 5-8 kHz, 25-50kHz, etc.; discrete wavelengths such as: 3, 4.2, 5.7, 8.3 μm, 22.2 kHz,50 kHz, etc.; can be non-overlapping ranges such as: 3-4 & 6-8 μm, 15-20kHz & 45-50 kHz, etc.) and/or can include any suitable wavelengths.However, additionally or alternatively the wave based coating weakeningsystem can be configured to emit a tunable wavelength range (e.g.,dependent, for example, on the system temperature, the sampletemperature, the electrical current produced by the power supply, etc.),fixed wavelengths (e.g., 9.4, 10.6 μm, 30 kHz, etc.), and/or anysuitable set of wavelengths. When the system includes multiple wavebased coating weakening systems, each wave based coating weakeningsystem preferably emit a different set of wave parameters (e.g.,overlapping or nonoverlapping). However, multiple wave based coatingweakening systems on the same system can emit the same set of waveparameters.

The intensity of the waves is preferably defined as a percentage ofmaximum output power (e.g., 100%, 95%, 80%, 67%, 50%, 40%, 25%, etc.),but additionally or alternatively can be dynamically changing (e.g., bemodulated at a predetermined rate to generate a specific wear profilesuch as: specific temperature profile, specific cavitation profile,etc.); can be defined as an absolute power density (e.g., 1 W/m², 10W/m², 1 W/cm², etc.); and/or can be determined in any suitable manner.

The time (e.g., dwell time) that the waves are incident on the sample(e.g., a specific region of the sample, the sample as a whole) ispreferably determined based on the wavelength and the intensity (e.g., 8s for 95% intensity and 3 μm, 20 s for 80% intensity and 60 kHz, etc.).However, the time can be a fixed value (e.g., 1, 2, 5, 10 s etc.),depend on the sample properties (e.g., 10 s for 1 mm thick, 20 s for 1.5mm thick coating, 15 s for polyurethane coating, etc.), dynamicallyupdate (e.g., detect decrease in intensity and increase the duration ofexposure), and/or be any other suitable timing.

The coating weakening system can optionally be used with a couplingmedium 115 that functions to couple the wave based coating weakeningsystem with the coating and/or sample. In specific variants, thecoupling medium can function to prevent damage caused by the coatingweakening system (e.g., chemical wear, thermal wear, etc.) to thecoating (and/or underlying layers). The coupling medium can be appliedto the coating surface before the coating weakening system passes overthe coating surface with any suitable timing. In a specific example, thecoupling medium can be applied to the coating surface immediately, apredetermined amount of time (e.g., 1 s, 2 s, 5 s, 10 s, 30 s, 1 min, 2min, 10 min, 1 hour, etc.), and/or with any suitable timing before orafter the coating weakening system passing over the coating surface. Thecoupling medium can be applied adjacent to the coating weakening system(e.g., from an outlet of a coating dispenser that is adjacent to thecoating weakening system), in-situ with the coating weakening system, bythe coating weakening system, and/or in any suitable location. In aspecific example, a portion of and/or the entire coating surface can becoated with coupling medium before the coating weakening system passesover the sample region. In variants, the coupling medium can be reused(e.g., collected from the coating surface, filtered, reused,recirculated, etc.).

In specific example, the system can include a coupling medium reservoir1152 and a coupling medium dispenser 1154. The coupling medium reservoiris preferably configured to hold the coupling medium. The couplingmedium reservoir can include: a rigid container, a flexible container(e.g., a bag), or be otherwise configured. The coupling medium dispenseris configured dispense the coupling medium. The coupling mediumdispenser can include: a pump (e.g., a piston pump, a diaphragm pump), apressurization system fluidly connected to the coupling mediumreservoir, gravity (e.g., wherein coupling medium dispensation is drivenby hydrostatic pressure), and/or any other suitable dispensationmechanism. An outlet of the coupling medium dispenser is preferablyarranged in front of the wave-based coating weakening system (e.g.,proximal the leading edge of the system, relative to the wave-basedcoating weakening system); however, the outlet can be arranged in frontof the system, and/or at any suitable location. However, the couplingmedium can be applied to the entire coated sample (e.g., before couplingthe system to the sample), and/or can be applied to the sample in anysuitable manner.

The system can optionally include a coupling medium remover 1156 thatfunctions to remove the coupling medium from the coating. The system caninclude one or more coupling medium removers (e.g., an array of couplingmedium removers). The coupling medium remover can be: rollers, brushes,squeegees/squilgees, suction mechanisms (e.g., vacuum), wipers, blades,mop, sponge, auger (e.g., screw auger), towel, pressure mechanism (e.g.,blower such as air blower), and/or any suitable coupling medium removercan be used. The coupling medium remover can be arranged: betweencoating weakening systems, between a coating weakening system and asensor, between a coating weakening system and a coating removalmechanism, at the front of the housing, at the back of the housing,and/or at any suitable location. The coupling medium remover can operateautomatically (e.g., under control from a computing system, operable inresponse to a sensor reading, etc.), semi-automatically, and/ormanually.

In variants, the coupling medium remover 1156 can include one or morecoupling medium collectors that function to collect the coupling medium(e.g., from the coating, from the coupling medium remover). Thecollected coupling medium can be reused (e.g., recirculated) and/ordiscarded. In specific examples, the collected coupling medium can befiltered (e.g., using a filter), washed, purified, distilled, treated(e.g., UV treatment), and/or otherwise suitable processed before beingreused. However, the collected coupling medium can be reused withoutbeing processed. In a specific example, the coupling medium collectorcan be a vacuum mechanism. The vacuum mechanism can optionally includeone or more filters to clean (e.g., remove contaminants from) thecoupling medium enabling the coupling medium to be reused (e.g.,recirculated). The coupling medium collector is preferably connected tothe coupling medium remover. However, the coupling medium collector canbe connected to the coating weakening system, the housing, the coatingremoval mechanism, separate from the system, and/or arranged in anysuitable manner. In examples, the coupling medium reservoir, couplingmedium remover, coupling medium dispenser, and coupling medium collectorcan collectively define a coupling medium recirculatory 1158. However,the coupling medium recirculator can be defined in any suitable manner.

In specific examples, the collimation state can be controlled usinglenses and/or wave-based coating weakening system design architecture(e.g., how pointed the wave-based coating weakening system is, distancebetween the wave-based coating weakening system and the coating, etc.).

The wave-based coating weakening system can emit and/or generate:transverse waves (e.g., electromagnetic waves), longitudinal waves(e.g., sound waves), combination waves (e.g., waves that include bothtransverse and longitudinal components, water wave, etc.), surfacewaves, and/or any suitable type of wave. Examples of wave-based coatingweakening systems that can be used include: infrared light sources,laser, microwave, ultrasound, and/or any other suitable mechanism.

In a first embodiment, the wave-based coating weakening system (e.g.,transverse wave bond weakening system, transverse wave coating weakeningsystem, transverse wave weakening system) functions to illuminate and/orirradiate the coating (and/or sample) with transverse waves (e.g.,electromagnetic radiation 114). The electromagnetic radiation can:increase the temperature of the coating(s), leading to thermal expansionof the coating(s), thereby weakening a subset of bonds in the sample;can drive reactions (e.g., photolytic reactions at the interface);and/or can decrease the coupling force (e.g., weaken the bonds) in anysuitable manner. The wave-based coating weakening system preferablyheats the coating (and/or coated sample) to <600° C., but canadditionally or alternatively heat the coating (and/or coated sample) toa temperature less than the coating and/or coating material's meltingtemperature, a temperature that depends on the substrate (e.g., below asubstrate-damaging temperature, below a substrate phase changetemperature, etc.), a temperature that depends on the sample properties(e.g., thickness, composition, etc.), a temperature that depends on thetarget coating removal, and/or heat the sample to any suitabletemperature.

The transverse waves are preferably electromagnetic waves (e.g.,electromagnetic radiation), example shown in FIG. 3. The transversewaves are preferably generated by the light emitter (e.g., lightsource), but can be otherwise generated. The electromagnetic waves arepreferably infrared (IR) (e.g., wavelength is between 0.7 μm and 1.00mm), but can additionally or alternatively have any suitable wavelength.In a set of specific example, the electromagnetic radiation can includenear-infrared radiation (e.g., wavelength and/or range of wavelengthsbetween 0.7-1.4 μm), short-wave infrared radiation (e.g., wavelengthand/or range of wavelengths between 1.4-3μm), mid-wave infraredradiation (e.g., wavelength and/or range of wavelengths between 3-8 μm),long-wave infrared radiation (e.g., wavelength and/or range ofwavelengths between 8-15 μm), far infrared radiation (e.g., wavelengthand/or range of wavelengths between 15-1000 μm). However, theelectromagnetic radiation can be visible (e.g., wavelength and/or rangeof wavelengths between 400-700 nm), ultraviolet (e.g., wavelength and/orrange of wavelengths between 10-400 nm), microwave (e.g., wavelengthand/or range of wavelengths between 1 mm to 1 m), and/or any suitableelectromagnetic radiation can be used. In a specific example, thewavelength of the transverse wave is chosen to match a resonance in thecoating (e.g., the wavelength is absorbed by the coating). In thisspecific example, when the coating is a thick elastomeric polyurethanecoating, the transverse waves are chosen to have a wavelength in therange of 1-3 μm to induce the greatest thermal heating. However otherwavelengths (and/or wavelength ranges) can be selected for the same ordifferent coating material.

The electromagnetic radiation preferably has a maximum intensity of 5400W. However, the electromagnetic radiation can have any suitable maximumintensity. In operation, the intensity of the electromagnetic radiationcan be selected based on the sample properties/parameters, time (e.g.,duration required to achieve a target temperature), lifetime (e.g.,anticipated lifetime of the light sources based on the intensity),and/or otherwise selected. The operation intensity can be any suitablepercentage between 0-100% of the maximum intensity.

The transverse waves are preferably incoherent. More preferably, thetransverse waves are generated by an light source (e.g., LED). However,additionally or alternatively the transverse waves can be produced bycoherent sources (e.g., lasers such as: quantum cascade lasers, CO₂lasers, solid state lasers; nonlinear processes such as: nonlinearfrequency conversion, optical parametric amplification; etc.), thermalemission (e.g., incandescent lamps, sun light, etc.), and/or begenerated by any other suitable source. The transverse waves arepreferably unpolarized, but additionally or alternatively can belinearly polarized, circularly polarized, elliptically polarized,randomly polarized, and/or have any suitable polarization state.

In specific examples in which the wave-based coating weakening systemcan emit more than one transverse wave or range thereof (e.g., includesmore than one light source, includes more than one cassette, lightsource can be dynamically adjusted to generated more than one transversewave simultaneously), the operation parameters (e.g., wavelength;intensity; time such as duration of illumination; etc.) for each of thetransverse waves can be the same and/or different. In this specificexample, one transverse wave can be configured for one coating material(e.g., emit electromagnetic radiation with a wavelength range thatmatches an absorption of the coating material such as a wavelength rangebetween 1-3 μm) and another transverse wave can be configured foranother coating material (e.g., emit electromagnetic radiation with awavelength range that matches an absorption of another coating materialsuch as a wavelength range between 3-8 μm). In this specific example,the form factor of the light sources can be cassettes (e.g., flat cases,cartridges), filaments, thin films, foil (e.g., metallic foil), and/orany suitable form factor can be used.

In a first variant including one or more light sources, the lightsources can be modular and replaceable. For example, each light source(e.g., set of light sources) can each be in the form of modularcassettes, which can be removed and replaced with other cassettesretaining other light sources. In a specific example, the first cassetteof light emitters can correspond to short-wave IR emitters (e.g., lightsources that emit radiation including wavelengths 1.4-3 μm) and thesecond cassette can correspond to mid-wave IR emitters (e.g., lightssources that emit radiation including wavelengths 3-8 μm). Each cassette(and/or set of light sources) can include 1 or more light emitters(e.g., LEDs) arranged in a circle, in an array, or in any other suitablearrangement. In a second variant, the wave-based coating weakeningsystem can include more than one type of light emitter (e.g., ashort-wave IR emitter and a mid-wave IR emitter) concurrently mounted tothe system.

In a second embodiment of the wave-based coating weakening system, thecoating weakening system (e.g., longitudinal wave coating weakeningsystem, longitudinal weakening system, longitudinal coating weakeningsystem) preferably functions to induce cavitation wear in the coating(e.g., at the interface between the coating and the underlying layer).The longitudinal waves are preferably sound waves, and more preferablyultrasonic waves 118 (e.g., emitted from an ultrasonic emitter 116), forexample as shown in FIG. 5. However, additionally or alternatively thelongitudinal waves can be a pressure wave and/or any suitablelongitudinal wave. The longitudinal waves are preferably generated by asound source(s) (e.g., an ultrasonic transducer 117), but can begenerated by a pump or by any other suitable system.

In a specific example, the wave-based coating weakening system caninclude an ultrasound machine. The ultrasound machine can include one ormore ultrasonic emitters 116 and/or ultrasonic horns (e.g., with one ormore transducers), central processing units, and control systems, butcan additionally or alternatively include any other suitable component.In this embodiment, the transducer functions to produce the sound waves.The transducer area of the ultrasonic horn preferably has a transducerarea of ˜1 mm², but can have a transducer area larger than 1 mm², orsmaller than 1 mm². The wave-based coating weakening system can includean array of ultrasonic emitters, a linear ultrasonic probe, arealultrasonic probe, include an ultrasonic bath, and/or include any othersuitable ultrasonic emitter. The frequency of the ultrasonic emitters ispreferably a frequency and/or range thereof between 15-68 kHz, such as25 kHz; however, any suitable frequency can be used. The intensity ofthe acoustic waves (e.g., ultrasonic waves) emitted by the ultrasonicemitters is preferably between 100-2400 W; however, any suitableintensity can be used.

In variants of the system, the wave-based coating weakening system canbe operable between a contact and a non-contact mode. In the contactmode, the wave-based coating weakening system can directly contact(e.g., touch) the coating (and/or underlying layers). In the contactmode, the contact pressure (e.g., amount of pressure between the coatingand the wave-based coating weakening system) is preferably less than 1pound per square inch (PSI); however, the contact pressure can begreater than 1 PSI. The contact pressure can be controlled based on aset point (e.g., 1 PSI), based on the coating property (e.g., coatingthickness, coating material), based on the dwell time, or otherwisecontrolled. In the non-contact mode, the wave-based coating weakeningsystem can oppose the substrate across the coating (e.g., arranged abovethe coating) by a distance, such that the wave-based coating weakeningsystem is indirectly coupled to the coating (e.g., via the couplingmedium). The distance is preferably nonzero, but can additionally oralternatively can be zero. The distance can be: predetermined,determined based any suitable property associated with the coating(e.g., coating material, thickness, energy absorption, transmission,etc.), or otherwise determined. System operation in the contact andnoncontact mode can be selected: manually, automatically, based on thecoating properties, based on a removal parameter (e.g., removal speed orduration, removed coating intactness, ambient environment parameters,etc.), or otherwise selected. In a specific example, an ultrasonicemitter can be operable in the contact mode when the coating has a firstcoating property and can be operable in the noncontact mode when thecoating has a second coating property, different from the first coatingproperty. In this example, the coating properties can be a meltingtemperature, a vaporization temperature, an acoustic resonance frequency(e.g., plasmon resonance frequency), the coating thickness, the coatingthermal conductivity, the coating thermal expansion coefficient, and/orany suitable coating properties. However, the mode can additionallyand/or alternatively be selected based on interfacial properties,substrate properties, wave-based coating weakening system properties(the intensity, the maximum power, wavelength), time (e.g., duration ofapplication, dwell time), and/or any suitable properties.

The system can include one or more coating weakening systems. As shownin FIGS. 6A and 6B, an example of the system includes one or moretransverse coating weakening systems and one or more longitudinalcoating weakening systems. However, the system can have one or moretransverse coating weakening systems, one or more longitudinal coatingweakening systems, and/or any other suitable combination of coatingweakening systems. The coating weakening systems are preferably incommunication with each other, but additionally or alternatively can beotherwise suitably configured. The coating weakening systems can beseparated by a separation distance and/or range thereof between 0-10 msuch as 6 cm; however, the coating weakening systems can have anysuitable separation distance. The coating weakening systems can beoperated simultaneously, asynchronously, with a time delay (e.g., adelay between operation of each coating removal system such as 0 s, 1 s,2 s, 4 s, 10 s, 30 s, 60 s, 2 min, 5 min, 10 min, etc.), with apredetermined frequency, and/or in any suitable manner.

In embodiments of the system having at least one transverse coatingweakening system and at least on longitudinal coating weakening system,the transverse coating weakening system and longitudinal coatingweakening system can be separated by any suitable distance between 0-10m (for example 10 cm). However, the transverse coating weakening systemand longitudinal coating weakening system can be separated by anysuitable distance. In these embodiments, transverse coating weakeningsystem and longitudinal coating weakening system preferably operatesimultaneously (e.g., on different coating location, on the same coatinglocation). However, transverse coating weakening system can operatebefore and/or after longitudinal coating weakening system by anysuitable time delay. In a first specific example of this embodiment, thetransverse coating weakening system can precede or be arranged in frontof the longitudinal coating weakening system (e.g., infraredillumination is applied before ultrasonication). In this specificexample, the longitudinal coating weakening system can optionallyfunction as a coating remover (e.g., coating removal mechanism) inaddition to the coating weakening system. In a second specific exampleof this embodiment, the transverse coating weakening system can bearranged behind and follow the longitudinal coating weakening system(e.g., infrared illumination after ultrasonication). In this specificexample, the coating weakening system configuration can function to havethe longitudinal coating weakening system thin the coating, so that lessmaterial needs to weakened by the transverse coating weakening system.In a third specific example of this embodiment, the transverse coatingweakening system can be applied simultaneously with the longitudinalcoating weakening system (e.g., having the ultrasonic emitter include aninfrared light source; have an ultrasonic emitter and an infrared lightsource arranged in parallel along a lateral axis and directed toward thesame removal region). Additionally or alternatively, the transverse andlongitudinal coating weakening systems configuration can depend on thecoated sample (e.g., coating thickness, coating composition, etc.), theamount of time for the coating to be removed (e.g., want to have coatingremoved over entire surface in less than 1 hour), the desired quality ofcoating removal (e.g., degree of coating removal, uniformity of uncoatedsample, etc.), and/or can have any suitable configuration.

The coating weakening system can optionally include one or more thermalcoating weakening systems that can function to increase the temperatureof the coating relative to the underlying layer (e.g., substrate,primer, other coating layers, etc.). The thermal coating weakeningsystem preferably includes a noncontact heating mechanism (e.g.,immersion heating, convection heating, radiative heating, etc.) that isconfigured to couple thermal energy to the coating without the thermalelements contacting the coating. However, the thermal coating weakeningsystem can include a contact heating mechanism (e.g., thermal elementsthat touch the coating, such as resistive heaters). The thermal coatingweakening system can be the same as and/or different from the wave-basedweakening system. In a specific example, the thermal coating weakeningsystem can include a convection heating mechanism. The convectionheating mechanism can include one or more heating elements that can heata coupling medium, wherein the coupling medium is in contact with thecoating. However, any suitable heating mechanism can be used.

The temperature differential induced by the thermal coating weakeningsystem can cause thermal expansion of the coating relative to theunderlying layer (or vice versa), which can weaken the coating and/orthe interface (e.g., interfacial bonds) between the coating and theunderlying layer. The coating is preferably heated to a temperature lessthan the melting and/or vaporization temperature of the coating, but canadditionally or alternatively be heated to any other suitabletemperature. In a specific example, the coating can be heated to anysuitable temperature less than 600° C. such as 300° C. The temperaturedifferential can depend on a relative thermal property (e.g., heatcapacity, specific heat, thermal conductivity, etc.) between the coatingand the underlying layer (e.g., substrate), a duration of time (e.g.,duration heating mechanism is applied, duration of time since heatingwas applied, etc.), a heating mechanism (e.g., temperature of theheating mechanism, operation mechanism, etc.), and/or can depend on anysuitable property.

The coating weakening system preferably includes at least one powersupply. The power supply preferably includes a battery, more preferablya secondary battery, but can additionally or alternatively can include acapacitor (e.g., to facilitate fast discharging in combination with abattery), a fuel cell with a fuel source (e.g., metal hydride), athermal energy converter (e.g., thermionic converter, thermoelectricconverter, mechanical heat engine, etc.) optionally with a heat source(e.g., radioactive material, fuel and burner, etc.), a mechanical energyconverter (e.g., vibrational energy harvester), a solar energyconverter, power cord (e.g., to plug into a wall socket, USB, etc.),and/or any other suitable power source. However, the coating weakeningsystem can additionally or alternatively include any other suitablepower supply elements. The power source can be located onboard thecoating weakening system (e.g., mounted to the housing, to the robot,etc.), be remote from the coating weakening system (e.g., connected tothe system via a wired or wireless power connection), or be otherwisearranged relative to the system.

The coating weakening system can optionally include ablation reductionsystems. The ablation reduction systems preferably function to minimizethe amount of coating that is removed from the substrate and redepositson the coating weakening system. The ablation reduction system ispreferably collocated with the coating weakening system, but canadditionally or alternatively be located at any suitable location. Theablation reduction system can include vacuum based (e.g., a vacuumshroud), environment based (e.g., wetting the coating surface, highhumidity in the system, etc.), barrier based (e.g., protective shieldbetween the coating and the coating weakening system), and/or can beconfigured in any suitable manner.

In variants, the system can optionally include a cutting mechanism thatfunctions to cut the coating (e.g., weakened or unweakened coating) tomatch the size of the system (e.g., weakened coating extent, coatingweakening system size, coating removal mechanism size, etc.) and/orfacilitate the removal of the weakened coating. The cutting mechanismcan be arranged after, in-line with, between, before, or be mounted to:the coating weakening system (e.g., the ultrasound system, the infraredsystem), the coating separation mechanism, and/or any other suitablesystem component. In examples, cutting mechanism(s) can be arranged:along the coating removal mechanism (e.g., friction wheel), along thesides of the housing, along the system longitudinal axis and between thecoating weakening system and the coating separation mechanism, orotherwise arranged. In examples, the cutting mechanism can be a blade(e.g., razor, knife, etc.), a serrated blade, a wheel type cutter, awater jet, and/or any suitable cutting mechanism can be used. Theposition of the cutting mechanism (e.g., height above the coating) canbe static and/or dynamically adjusted (e.g., based on coatingproperties).

The coating weakening system can optionally include one or moreseparators in. The separators can separate (e.g., isolate) one coatingweakening system from another coating weakening system; however, theseparators can separate the coating weakening system from the sensors,from the coating removal mechanism, and/or from any suitable component.In a specific example, a separator can be used to generate separatehousing compartments, such as an ultrasonic emitter compartment and alight source compartment. The compartments are preferably in fluidisolation (e.g., coupling medium from one compartment does not enteranother compartment). However, the compartments can be in fluidcommunication. In variants, the separator(s) can be barriers (e.g.,walls, splash guards, sleeves, etc.), rollers, brushes,squeegees/squilgees, suction mechanisms (e.g., vacuum), wipers, blades,mop, sponge, auger (e.g., screw auger), towel, blowers, and/or anysuitable separator can be used. In a specific example, a wiper (e.g.,squeegee) can be used to push coupling medium away from the weakenedcoating (e.g., between the coating removal mechanism and the coatingweakening system).

3.2 Coating Removal Mechanism.

The coating removal mechanism 120 preferably functions to remove thecoating from the underlying layer in a single unitary piece. However,the coating can be removed as shards, multiple unitary segments (e.g.,longitudinally or laterally segmented), or in any suitable number and/orsize of pieces. The coating removal mechanism is preferably applied tothe substrate after the coating weakening system is applied (e.g., lagafter the coating weakening system), more preferably applied immediatelyafter the coating weakening system (e.g., within a predetermined timesuch as 1 s, 2 s, 4 s, 5 s, 10 s, 15 s, 60 s, etc.; within apredetermined distance such as 1 mm, 2 mm, 5 mm, 10 mm, 2 cm, 5 cm, 10cm, etc.; etc.), but alternatively can be applied asynchronously withthe coating weakening system. The coating removal mechanism ispreferably integrated into a unitary housing with the coating weakeningsystem, but can additionally or alternatively be a separate system.

The coating removal mechanism preferably operates automatically, but canadditionally or alternatively operate semi-automatically (e.g., operateautomatically for fixed amount of time, automatically based on humaninput, etc.), manually (e.g., operated by an operator, requires humaninput for the coating removal mechanism to function, etc.), and/oroperate in any suitable manner. The coating removal mechanism canoptionally collect the removed coating (e.g., permanently be attached tothe coating, temporarily attach to the coating, place coating in acoating receptacle, etc.), but can additionally or alternatively notcollect the coating and/or treat the removed coating in any suitablemanner.

The coating removal mechanism preferably includes one or more: coatingseparation mechanisms and coating collection mechanisms, but canadditionally or alternatively include any other suitable component.

The coating separation mechanism preferably includes one or moreattachment mechanisms and one or more pulling mechanisms. However, thecoating removal mechanism can include a washer (e.g., that washes awaythe coating), blower (e.g., that blows away the coating), scraper (e.g.,razor blade, spatula, etc.), ablation mechanism (e.g., ultrasoundmachine, sand blaster, etc.), and/or any other suitable coatingseparation mechanism.

The attachment mechanism functions to attach the pulling mechanism tothe coating. The attachment mechanism can couple to the coating at thetop surface of the coating, at an edge of the coating, in the middle ofthe coating, and/or at any suitable locations on the coating.

The attachment mechanism is preferably a mechanical attachment mechanism(e.g., tweezer, hooks, robotic hand, etc.). However, the attachmentmechanism can be an adhesion mechanism (e.g., tape, glue, gecko feet,adhesive, etc.), electrical (e.g., static electricity, electrical arc,magnetic, etc.), friction mechanism (e.g., friction wheel, example asshown in FIG. 4), suction (e.g., vacuum), and/or any other suitableattachment mechanism. In a specific example, the attachment mechanism isa pair of tweezers. The tweezers are used to grab the coating from anedge and lift the coating off of the substrate. In this example, once apredetermined area of coating has been removed, the area of coating canbe cut off and the tweezers can be used to pick up a new area of coatingto be removed. In this specific example, removing one area of coating ata time improves the quality of the coating removal.

The pulling mechanism functions to pull the coating off of thesubstrate. The pulling mechanism is preferably arranged after theattachment mechanism (e.g., along the direction of travel, proximal thetrailing edge relative to the attachment mechanism), but canadditionally or alternatively be part of the attachment mechanism or bearranged before the attachment mechanism. The pulling mechanism ispreferably configured to apply a force on the coating normal to thesubstrate, but can additionally or alternatively apply a force at apredetermined angle (e.g., 30°, 45°, 60°, 135°, etc.) to the angle oftravel, apply a lateral force (e.g., relative to the direction oftravel, relative to the system's longitudinal axis, etc.), and/or applya force in any other suitable direction. The applied force can be:predetermined (e.g., the same for all coatings), determined based on thecoating properties (e.g., based on the tensile force of the removedcoating), determined based on the coating removal properties (e.g.,based on the amount of time before the coating reattaches to theunderlying layer, etc.), or be any other suitable force. The pullingmechanism is preferably an actuator, more preferably an electricalactuator (e.g., powered by an electric motor), but can additionally oralternatively be a hydraulic actuator, pneumatic actuator, thermalactuator, magnetic actuator, mechanical actuator (e.g., rack andpinion), and/or any suitable actuator. However, the pulling mechanismcan be a handle (e.g., wherein the coating can be removed by anoperator) and/or be any suitable mechanism.

The pulling mechanism preferably operates with an intermittent timing,determined by the duration of the coating weakening system (e.g., thesame as the duration of the coating weakening system, longer than thecoating weakening system time, etc.). However, the pulling mechanismtiming can be unrelated to the coating weakening system time, can becontinuous (e.g., when system is in operation, pulling mechanism isoperating), at a predetermined frequency (e.g., every 15 s, every 60 s,etc.), intermittently (e.g., with a changing frequency), and/or with anysuitable timing.

In specific variants, the coating removal mechanism can include anablation mechanism that can function to remove layers of coating (e.g.,without contacting the coating). In a specific example, the ablationmechanism can include an ultrasound machine (e.g., including one or moreultrasonic horns) configured to generate a jet of coupling mediumdirected at the coating surface. In this specific example, the coatingremoval mechanism can be the same as the coating weakening system;however, the coating removal system and coating weakening system can bedifferent. In this specific example, the coupling medium can be water,and the ultrasonic horn can direct high pressure and/or temperaturewater from the tip of the ultrasonic horn to the surface of the coatingin contact with the coupling medium. The coupling medium and/or theultrasound machine can remove the coating from the surface (e.g., viacavitation; pushing the coating, such as along the longitudinal axis ofthe sample, etc.). However, the ablation mechanism can be a pressurizedjet (e.g., of water, of solvent, etc.) and/or can have any suitableconfiguration.

In a specific example, the coating removal mechanism can be a frictionwheel 122. The system can include one or more friction wheels, arrangedin series or in parallel (e.g., relative to the direction of systemtravel). In this specific example, the friction wheel can be attached tothe coating (e.g., the weakened coating) by friction (e.g., staticfriction, kinetic friction, etc.). The coefficient of static frictioncan be predetermined and static, and/or depend on (e.g., be selectedbased on): the materials (e.g., the type of coating, the friction wheelmaterial), the extent of the coating weakening, the speed of the system(e.g., how fast the system travels relative to the coating), coatingproperties (e.g., wetness, temperature, etc.), friction wheel roughness(e.g., surface roughness), and/or any suitable properties. Thecoefficient of static friction is preferably greater than 0.1; however,any suitable coefficient of static friction can be used. In thisspecific example, as the friction wheel moves (e.g., rotates), theweakened coating is preferably peeled away from the underlying layer(e.g., the friction between the coating and the friction wheel exceedsthe friction between the coating and the underlying layer).

In a related example, the friction wheel can include one or more blades.The blade(s) can cut the weakened coating (e.g., to facilitate removalof the coating) and/or increase the friction/coupling between thefriction wheel and the coating. The blade preferably extends beyond thefriction wheel by a blade distance, wherein the blade distance can be:predetermined; equivalent to, less than, or more than the coatingthickness; or be any other suitable distance. In a specific example, theblade can radially extend outward, along an axial portion of thefriction wheel at one or more arcuate positions, wherein the blade cutsthe weakened coating into lateral segments (e.g., perpendicular thedirection of travel) when the blade contacts the coating. In a secondspecific example, the blade can be arranged perpendicular the frictionwheel axis and/or parallel the friction wheel cross section (e.g.,extend around the friction wheel and be arranged at an axial position;be arranged along a side of the friction wheel; etc.), wherein the bladecuts the weakened coating into longitudinal segments (e.g., parallelwith the direction of travel) when the friction wheel contacts thecoating. However, the blade can be otherwise configured and arranged.

In variants, the coating removal mechanism can optionally include acoating reservoir configured to collect, store, and/or process theremoved coating. After removal from the sample, the coating removalmechanism (e.g., pulling mechanism, attachment mechanism) can depositthe removed coating in the coating reservoir. The removed coating can bedeposited into the coating reservoir by: a material feed from thefriction wheel, suction (e.g., wherein the removed coating is suckedinto the coating reservoir), manual action (e.g., a user places theremoved coating into the coating reservoir), by an augur, or by anothertransport mechanism. The coating reservoir can optionally include one ormore solvents (e.g., water, soap, surfactant, etc.). The coatingreservoir solvents can be used, for example, to wash the removed coatingto prepare the removed coating to be recycled, reused, and/or disposedof. The coating reservoir preferably stores the coating as a single,unitary piece. However, the coating reservoir can store the coating inany suitable number and/or size of pieces.

3.3 Sensor.

The system can optionally include one or more sensors 130. The sensors130 preferably function to measure properties associated with thecoating and/or sample (e.g., coating thickness, substrate quality,coating composition, contact pressure, etc.) but can additionally oralternatively measure operation properties, ambient environmentproperties, and/or any other suitable property. The sensors arepreferably arranged at the leading edge of the housing (e.g., in frontof the coating weakening system); however, the sensors can additionallyand/or alternatively separate from the housing, integrated into anysuitable system component (e.g., coating weakening system, coatingremoval mechanism, etc.), be arranged between system components (e.g.,between two coating weakening systems, between coating weakening systemand coating removal system, etc.), next to system components, and/orarranged in any suitable manner.

Sample properties preferably include coating(s) parameters and substrateparameters, but can additionally or alternatively include any othersuitable information. Coating parameters preferably include coatingthickness (e.g., uniform thickness, average thickness, local coatingthickness, map of coating thickness across the sample, etc.), numerosity(e.g., one, two, multiple coatings, etc.), coating composition (e.g.,material, hydration state, polymer average molecular weight, etc.),coating quality (e.g., uniformity, existence of islands, surfacecoverage, surface roughness, etc.), extent of coating weakening (e.g.,temperature, degree of ablation, etc.), force (e.g., force necessary topull coating off), pressure (e.g., contact pressure), and/or any othersuitable information. Substrate parameters preferably include substratethickness, quality (e.g., uniformity, surface coverage, surfaceroughness, etc.), composition (e.g., metal such as Aluminum, compositematerials, etc.), and/or any other suitable information. Operationproperties can include: system height, system pressure, systemtemperature, system speed, system velocity or acceleration, systemdispensation rate, and/or any other suitable operation parameter.Ambient environment properties can include: ambient temperature,pressure, humidity, light, and/or any other suitable ambient environmentparameter.

The sensors can preferably include one or more sensors such as:interference sensor (e.g., measure the interference of electromagneticradiation at a given wavelength), surface sensor (e.g., cantilever,atomic force microscope, scanning probe microscope, profilometer, etc.),indentation sensor (e.g., Rockwell instrument, microindentation, etc.),ellipsometer, force sensor (e.g., scale), sender/receiver pairs (e.g.,detect how much light is reflected from the sample at a givenwavelength), rulers (e.g., calipers, ruler, tape measurer, micrometer,etc.), acoustic waves (e.g., ultrasonic waves), thermometer (e.g., Ramanthermometer, Hg thermometer, ethanol thermometer, IR thermometer, etc.),pressure sensor (e.g., piezoelectric, pressure transducer, mechanicalpressure sensor, etc.), coating thickness sensors (e.g., magneticsensors such as magnetic pull-off, induction sensors, etc.; eddy currentsensors, ultrasonic sensors, micrometers, destructive sensors,gravimetric sensors, etc.), and/or include any other suitable sensor. Insome embodiments of the system, the same source for the wave-basedcoating weakening system can also be used as the wave source for thesensor(s).

The sensors are preferably mounted to the same unitary housing as thebond weakening system and coating removal mechanism, but canadditionally or alternatively be mounted to a separate housing. Thesensors can be arranged: in front of the coating weakening system,between the coating weakening system and the coating removal mechanism,after the coating removal mechanism, be collocated with the coatingweakening system and/or coating removal mechanism, or be otherwiselocated.

The sensors are preferably communicably coupled to the coating removalmechanism and the coating weakening system, but can additionally oralternatively be communicably coupled to either the coating removalmechanism or the coating weakening system, communicably coupled toneither, and/or be communicably coupled to any suitable component.

The parameters measured by the sensors (e.g., measurements) can be used:to set the initial operation parameters (e.g., for the wave basedcoating weakening system), dynamically control the operation parameters,monitor system operation (e.g., monitor whether the coating wasremoved), and/or otherwise used. In embodiments of the system, datacollected by the sensors can be used in a feedback loop for the coatingweakening system and/or the coating removal mechanism and/or any othersuitable element.

The sensors can measure the sample: during coating weakening, aftercoating weakening, during coating removal, after coating removal, atpreprogrammed timings, continuously, and/or at any other suitable time.

In a first example, the system can: measure the sample properties (e.g.,material type; highly-absorbed wavelengths, etc.) with the sensorsbefore applying the coating weakening system; and determine the coatingweakening system parameters (e.g., wave parameters, operationinstructions) based on the sample properties. In a second example, thesystem can: measure the sample properties with the sensors afterapplying the coating weakening system but before applying the coatingremoval mechanism. In this example, the sensor data can be used todetermine if the bonds have been sufficiently weakened to have thecoating removal mechanism remove the coating. In a third example, thesystem can measure the sample properties after applying the coatingremoval mechanism. In this example, the sensors can be used to determinethe quality and extent to which the coating was removed. This data canthen be used to determine whether the system should move to a new areaof the sample or if the same area needs to have its coating strippedagain.

In a first variant, the sensors can measure the properties associationwith the coating over a given region of the coating. In these variants,a map of the properties (e.g., properties at each location of thesample) can be generated. The map of the properties can be used togenerate a map of operation parameters (e.g., system operationparameters associated with each location of the sample).

In a second variant, the sensor(s) can be located at the leading edge ofthe housing. The sensors can be used to measure the propertiesassociated with the coating and/or sample before the coating weakeningsystem weakens the coating (e.g., immediately before). However, thesensors can be used in any suitable manner.

3.4 Housing.

The housing 150 preferably functions to support one or more componentsof the system. The housing can optionally provide a controlledenvironment for coating treatment. The housing preferably defines a top,sides, and a bottom; however, the housing can define any suitablesurfaces. One or more of the sensors, computing system, coatingweakening system(s), and/or coating removal mechanisms can be connectedto the top, bottom, and/or side of the housing. However, the componentscan be connected in any suitable manner. The housing can define anopening opposing the top of the housing. However, the opening can be inthe top of the housing, oppose a side of the housing, oppose the bottomof the housing, and/or be defined in any suitable manner. In operation,the opening is arranged proximal to the coating; however, the openingcan arranged distal to the coating, and/or in any suitable manner. Insome variants, the opening can optionally include (e.g., be enclosed by)a window transparent to the coating weakening system mechanism. Invariants, the system can include one or more housings. In thesevariants, all or part of one or more of: the sensors, coating weakeningsystems, coating removal mechanisms, computing systems, and/or coatingsystems can be coupled to each housing. However, the housings can becoupled to any suitable component.

In variants, the housing is preferably coupled to each component via oneor more bias mechanisms. The components can be mounted to the housing bythe same or different bias mechanisms. The bias mechanism can be aspring (e.g., set of springs), actuator, micrometer, screw, guides,plunger (e.g., spring plunger), and/or any suitable bias mechanism. Thebias mechanism is preferably configured to bias the components towardthe coating (e.g., toward the opening), thereby modifying a separationdistance between the coating and the components. However, the biasmechanism can bias the components tangentially to the coating, away fromthe coating, and/or in any suitable direction. The bias mechanism canaccess continuous and/or discrete positions. The bias mechanismoperation is preferably automatic. However, the bias mechanism can beoperated manually, semi automatically, and/or in any suitable manner.The bias mechanism is preferably passive, but can additionally oralternatively be active (e.g., controlled by a processing or controlsystem). However, one or more components can be coupled to the housingvia fasteners, adhesives, and/or in any suitable manner.

In a specific example, as shown in FIG. 10A, the housing preferablyincludes a set of treads 157 along the sides. The opening, defined bythe housing, can be between the treads 157. In this example, the lightemitters, ultrasonic emitters, and friction wheel can be coupled to thetop of the housing (e.g., to the housing interior) via separate biasmechanisms. One or more sensors can be included at the front of thehousing. However, the housing can be arranged in any suitable manner.

The system (and/or housing) can optionally include a movement system 155that functions to move the system over the surface of the sample.Alternatively or additionally, the movement system can be configured tomove the sample relative to the system. The movement system preferablymoves the system relative to the sample at a rate determined by thesample properties and the coating weakening system parameters (e.g.,wave parameters). However, additionally or alternatively the rate ofmovement can be predetermined (e.g., a static rate, according to aprogrammed curve, etc.), stepwise (e.g., move a fixed amount then waitan amount of time before moving again), dynamically determined (e.g.,based the sample properties, the coating weakening system parameters,etc.), continuous (e.g., continuously move the sample relative to thesystem), and/or with any suitable rate. The movement system ispreferably an actuator, more preferably an electrical actuator (e.g., amotor). However, additionally or alternatively the movement system canbe a mechanical actuator (e.g., torsion spring), hydraulic actuator,pneumatic actuator, thermal actuator, magnetic actuator, and/or anysuitable actuator. Examples of the movement system include: a robot thatnavigates over the surface of the sample, a gantry, a set of treadscoupled to the housing, wheels, or any other suitable movement system.The actuation mechanism(s) is preferably mounted to the housing, but canadditionally or alternatively be mounted to the coating weakening systemand/or any other suitable component.

In some variants, the system can include one or more computing systems140. The computing systems preferably communicate with and/or controlthe coating weakening system, coating removal mechanism, and/or thesensors (e.g., via one or more communication modules, preferablywireless communication modules), but can be otherwise configured. Thecomputing system functions to determine the system operation parametersbased on the properties associated with the coating. The coatingproperties can be determined: from a user (e.g., manually entered), froma specification for the sample, from the sensor measurements, orotherwise determined. The computing systems can include remote computingsystems (e.g., network-connected servers), local computing systems(e.g., on-board the system), operator devices (e.g., smartphones,tablets, etc.), and/or any other suitable set of computing systems.However, the system can include any suitable set of computing systems.

In a specific example as shown in FIG. 6, when the sample contains morethan one coating (e.g., polyimide and more than one type ofpolyurethane, etc.) the coating weakening system parameters can be set(e.g., by an operator, to match a desired specification, based on thesystem parameters, etc.) to weaken the bonds in a predetermined location(e.g., the top most layer, the interface between any two coating layers,the interface between the coating and the underlying layer, between thecoating and the substrate, etc.), and/or in any suitable location of thesample. The coating removal mechanism would then be configured to removethe coating(s) from the interface where the coating weakening systemweakened the bonds.

In a specific example wherein the sample includes two coating layers,one coating layer can be a primer (e.g., forms a strong bond to thesubstrate and acts as an intermediate layer between the coating andsubstrate) and the top layer can be another material (e.g.,polyurethane). In this specific example, the coating weakening systemparameters may be set to weaken the bonds between the coating layer andthe primer (e.g., wherein the emitted wavelengths are selectivelyabsorbed by the coating layer, and/or the primer is transparent ortranslucent to the emitted wavelengths). In this example, the coatingremoval mechanism would be configured to remove the coating layer,leaving the primer behind. In this example, after coating removal, thecoating system can deposit a new coating layer over the primer layer,without depositing a primer layer first.

In some variants, the system includes a coating system. The coatingsystem functions to apply one or more coatings to the sample. Thecoating system is preferably arranged behind the coating removalmechanism, but can additionally or alternatively be arranged before thecoating weakening system, or arranged at any suitable location. Thecoating system can include chemical deposition systems (e.g., solutiondeposition, spin coating, dip coating, etc.), physical depositionsystems (thermal evaporator, electrospray, etc.), or any other suitablecoating system.

4. Method.

The method preferably includes weakening the coating S210 and removingthe coating S220, but can additionally or alternatively includedetermining sample properties S205, checking the sample after coatingremoval, reapplying coatings (and/or primers) S230, and/or any othersuitable elements.

The method optionally includes determining properties associated withthe coating and/or sample (e.g., sample properties), for example asshown in FIG. 7. Determining properties functions to identifycharacteristics (e.g., properties) of the sample (e.g., as describedabove). Determining properties preferably occurs before weakening thecoating, but additionally or alternatively can occur simultaneously withand/or after weakening the coating. Determining the properties ispreferably performed by sensors (e.g., as described above), butadditionally or alternatively can be received from a user or otherwiseperformed.

In a first variant, determining the properties can be performed once. Inan example of this variant, determining the properties can includemeasuring a map of the properties (e.g., sample properties) beforeweakening the coating. In this example, the map can correspond toproperties measured across the coated sample surface (e.g., specify thesample properties for each sample location or region). The map can beused to determine system operation parameters (e.g., a map of systemoperation parameters). However, the map can be used in any suitablemanner. The map can be determined: during coating treatment (e.g., forthe upcoming sample region), before coating treatment, or at any othersuitable time. In a second specific example, the properties can bemeasured at a single location of coated sample. These properties canthen be used for the entire coated sample.

In a second variant, determining the properties can be performedimmediately before weakening the coating. In a specific example, asensor can be mounted in front of the coating weakening system on thesame housing. The sensor can be used to measure the properties at alocation adjacent to and in front of the currently operated on location.The coating weakening system can then be used at the location (e.g.,upon movement of the system).

In a third variant, the coating weakening system (e.g., wave-basedcoating weakening system such as light sources, IR light emitters,electromagnetic radiation, ultrasonic emitters, acoustic waves,ultrasonic waves, etc.) can be used to determine the properties. In anexample of the third specific example, a sensor can be coupled to thecoating weakening system.

In fourth variant, the properties can be iteratively determined. Forexample, the coating region can be treated, then retreated when theseparation force is higher than a threshold force (e.g., wherein thethreshold force can be predetermined, specified by the coating removalmechanism, or otherwise determined).

However, the properties can be determined in any suitable manner.

Determining properties can include determining system parameters S208(e.g., system operation parameters), wherein the system is operatedaccording to the system operation parameters. The system operationparameters can include coating weakening system parameters, coatingremoval mechanism parameters, and/or any suitable parameters. The systemoperation parameters are preferably determined based on the propertiesassociated with the coating, but can additionally or alternatively beretrieved from a database (e.g., based on the coating material, coatingthickness, etc.), or otherwise determined.

The system operation parameters can include: position (e.g., x/y/z;relative position such as relative to the coating, opening, to othercomponents, etc.; etc.), orientation (e.g., Θ, φ; relative orientationsuch as relative to the coating, to the coated sample, to the opening,to other components, etc.; etc.), power output (e.g., maximum poweroutput), amplitude, frequency, wavelength, percentage of maximum poweroutput (e.g., 1%, 5%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 95%,99%, 100%, etc.), duration of operation (e.g., is, 2 s, 4 s, 6 s, 8 s,10 s, 12 s, 16s, 20s, 30s, 60 s, 120 s, etc.), duration since operation(e.g., the amount of time between weakening the coating and removing thecoating such as is, 2 s, 4 s, 10 s, 20 s, 30s, 60 s, 2 min, 5 min, 10min, 20 min, 30 min, 1 hr, etc.), power density, wave-spot size, wavefocal distance, speed (e.g., relative speed of the system relative tothe coating), mode of operation (e.g., contact mode, noncontact mode),coupling medium (e.g., type, presence, amount, etc.), and/or any othersuitable operation parameter.

The system operation parameters can be predetermined, dynamicallydetermined (e.g., based on a feedback loop, iteratively, etc.), orotherwise determined. The system operation parameters can be:calculated, selected (e.g., from a lookup table), predetermined, orotherwise determined. The system operation parameters are preferablydetermined based on the current sample properties (e.g., sampleproperties related to a specific location of the sample), but canadditionally or alternatively be determined based on target sampleproperties, previous sample properties, be unrelated to the sampleproperties, and/or by any other suitable means.

In a specific example, the coating weakening parameters can be set basedon the specific material composition of the coating. In another specificexample, the coating weakening parameters can be set to weaken bondsbased on a predetermined coating thickness (e.g., a target coatingthickness, an thickness of coating to remove, a thickness of coating toleave on the sample, etc.). In another specific example the coatingweakening parameters can be set to different values for differentlocations across the sample surface (e.g., set to match differentcoating thicknesses at different locations on the sample). In a fourthspecific example, the system operation parameters can be determined froma look-up based on the properties associated with the system. In a fifthspecific example, the system operation parameters can be learned (e.g.,machine learning) based on a coating removal dataset, where the coatingremoval dataset can include system operation parameters, extent ofcoating removal, properties associated with the coating, and/or anysuitable information/data. However, the system operation parameters canbe determined in any suitable manner.

Weakening the coating preferably functions to decrease a coupling forcebetween the coating and an underlying layer such as by weaken the bondsbetween the sample layers (e.g., between coatings, between the coatingand the primer, between the coating and the substrate). This canfunction to decrease the force required to remove a coating from thesample. Weakening the coating bonds is preferably performed by thecoating weakening system, but can additionally or alternatively beperformed by any suitable element.

Weakening the coating bonds can include: illuminating the coating(and/or sample), inducing cavitational wear on the sample (e.g., at thecoating surface, within the coating body, at the coating interfaces,etc.), transmitting acoustic waves (e.g., from the ultrasonic emitter)to the coating (and/or sample) and/or any suitable substeps.Illuminating the sample with electromagnetic waves is preferablyperformed by the transverse coating weakening system but canadditionally or alternatively be performed by any suitable element.Inducing cavitational wear on the sample and/or transmitting acousticwaves to the coating are preferably performed by the longitudinalcoating weakening system, but can additionally or alternatively beperformed by any suitable element.

In some variants, weakening the coating bonds can include using feedbackloops to determine coating weakening system parameters. Using thefeedback loop preferably includes measuring sample properties (e.g., atone or more sensor(s)) and setting coating weakening system parameters(e.g., updating coating weakening system parameters) based on thecurrent sample properties, but can additionally or alternatively includeany suitable elements. The coating weakening system parameters can bedetermined from the sample properties based on a look-up table,according to an equation (e.g., linear, logarithmic, trigonometric,etc.; variables can include: coating thickness, power, wavelength, time,coating composition, etc.), based on machine learning algorithms (e.g.,based on data from coating weakening measurements on many samples),manually input (e.g., operator sets operation parameters based on sensorreadings), based on a set of rules, and/or in any other suitable manner.In variants with more than one coating weakening system, the coatingweakening system parameters are preferably set according to a separatefeedback loop for each coating weakening system, but additionally oralternatively can use the same feedback loop, based on the type ofcoating weakening system (e.g., transverse waves, longitudinal waves,thermal, etc.), and/or share the feedback loop in any suitable manner.

In a specific example, the feedback loop is preferably initiated beforethe coating weakening occurs. The feedback loop is preferably operatedin a test region of the sample. The sample properties are measured andcoating weakening system parameters can be set based on those sampleproperties. The bond weaken system is operated with these coatingweakening system parameters in the test region. The degree of coatingweakening in the test region is measured (e.g., by the sensors). Basedon the degree of coating weakening, the coating weakening parameters canbe updated. In this example, this process is repeated until suitablecoating weakening parameters (e.g., coating weakening parameters meetingpredefined criteria such as an extent of coating removal, thickness ofcoating removal speed of coating removal, speed of system operation,etc.; predicted to remove full coating thickness; etc.) have beendetermined.

Removing the coating preferably functions to remove the coating (e.g.,weakened coating) from the sample. The coating is preferably removed ina unitary piece, but can additionally or alternatively be removed insegments, shards, or in any other suitable form factor. Removing thecoating is preferably performed after weakening the coating; morepreferably immediately (e.g., within 1 s, 2 s, 4 s, 6 s, 8 s, 10 s, 15s, 30 s, 1 min, 2 min, etc.) after weakening the coating. However, thecoating can be removed more than a threshold time duration after coatingweakening (e.g., more than 1 second, 2 seconds, 10 seconds, 30 seconds,1 minute, etc.), or be removed at any other suitable time. Removing thecoating is preferably performed by the coating removal mechanism, butcan additionally or alternatively be performed by any suitable element.Removing the coating preferably includes attaching the coating removalsystem to the weakened coating and pulling the coating off, but canadditionally or alternatively include collecting the removed coatingand/or any other suitable steps. Attaching to the coating is preferablyperformed by the attachment mechanism but can additionally oralternatively be performed by any suitable element. Pulling the coatingoff is preferably performed by the pulling mechanism, but canadditionally or alternatively be performed by any suitable element.

In some variants, the method can include checking the sample aftercoating removal. Checking the sample after coating removal functions todetermine the degree (e.g., extent) of coating removal (such aspercentage of coating removed) and the quality of the remaining sample(e.g., surface roughness of the remaining sample, amount of coatingremaining on the underlying layer, etc.). Checking the sample aftercoating removal is preferably performed by sensors, but can additionallyor alternatively be performed by any suitable element. In a specificexample, checking the sample after coating removal can function as theinput to a feedback loop. In this specific example, based on the qualityof the remaining sample (e.g., uniformity of coating removal, thicknessof remaining coating, etc.), weakening the coating and removing thecoating can be repeated over the same sample area (e.g., with the samecoating weakening system parameters, with updated coating weakeningparameters based on current sample properties, etc.) until the qualityof the remaining sample meets a specification (e.g., coating thicknessis less than a target value, sample uniformity is greater than a targetvalue, etc.).

In some variants, the method can include reapplying a coating to thesample. Reapplying a coating to the sample functions to cover the samplewith a new coating. Reapplying a coating preferably occurs afterremoving the coating. Reapplying the coating is preferably performed bya coating system, but can additionally or alternatively be performed byany suitable element. The new coating can be one or more coating layers.The new coating can have the same or different coating propertiesrelative to the original coating.

In a first specific example of the technology, a system for removing acoating from an underlying layer can include a wave-based weakeningsystem configured to weaken the coating by decreasing a coupling forcebetween the coating and the substrate. The wave-based weakening systemcan be connected to a housing. The wave-based weakening system can beconfigured to direct radiation (e.g., transverse waves such aselectromagnetic radiation, longitudinal waves such as acoustic wave,etc.) toward an opening defined by the housing. The housing canadditionally support a coating removal mechanism configured to removethe weakened coating from the underlying layer. The coating removalmechanism can be separate from and/or the same as the wave-basedweakening system. The coating removal mechanism can be configured toremove the coating in a unitary piece and/or in multiple separatepieces. The housing can additionally support a sensor (for example infront of the wave-based weakening system). The sensor can be configuredto determine a property associated with the coating. At least one systemoperation parameter can be determined based on the property.

In a second specific example, a system for removing a coating from anunderlying layer can include a housing defining an opening. The openingcan be configured to be adjacent to the coating. A light source can becoupled to (e.g., supported by) the housing. The light source can beconfigured to emit electromagnetic radiation directed toward theopening. The light source can include an infrared (IR) light source. Theelectromagnetic radiation (e.g., emitted by the IR light source) can beIR radiation (e.g., wavelength between 0.7-1000 μm). A portion of the IRradiation can be matched to an absorption (e.g., resonance) of thesample (e.g., coating). The IR light sources can include ashort-wavelength IR cassette (e.g., set of light sources configured toemit IR radiation with wavelength between 0.7-3 μm) and a mid-wavelengthIR cassette (e.g., a set of light sources configured to emit IRradiation with wavelength between 3-8 μm). The housing can include aseparator between the light source and the ultrasonic emitter. Theshort-wavelength IR cassette, med-wavelength IR cassette can operatesimultaneously and/or asynchronously. In a variation of this example, along-wavelength IR cassette (e.g., a set of light sources configured toemit IR radiation with wavelength between 8-15 μm) can be included. Inthis variation, the long-wavelength IR cassette can operatesimultaneously with and/or asynchronously with the short-wavelength IRcassette and/or the med-wavelength IR cassette. In this specificexample, an ultrasonic emitter can be coupled to the housing. Theultrasonic emitter can be configured to emit ultrasonic waves directedtoward the opening of the housing. The ultrasonic emitter can beoperable in a contact mode, wherein the ultrasonic emitter directlycontacts the coating and a noncontact mode wherein the ultrasonicemitter is a distance above the coating. The ultrasonic emitter can beoperable in the contact mode when the coating has a first coatingproperty and can be operable in the noncontact mode when the coating hasa second coating property. The ultrasonic emitter can include a pressuresensor. The pressure sensor can be configured to measure a contactpressure between the ultrasonic emitter and the coating. The system caninclude a coupling medium reservoir configured to store a couplingmedium. The coupling medium reservoir can be in fluid communication witha coupling medium dispenser. The coupling medium dispenser can includean outlet arranged in front of the ultrasonic emitter. The couplingmedium dispenser can dispense coupling medium in front of the ultrasonicemitter. The coupling medium can couple (e.g., indirectly) theultrasonic emitter (e.g., acoustic waves, etc.) to the coating. In thisexample, the system can include a coating removal mechanism configuredto remove the coating from the underlying layer. The coating removalmechanism can be coupled to the housing. In this specific example, thecoating removal mechanism can be separate from and/or identical to theultrasonic emitter. The coating removal mechanism can be a frictionwheel and/or a grip and pull tool. In this specific example, the systemcan include a sensor. The sensor can be configured to determine aproperty associated with the coating. A system operation parameter canbe determined based on the property associated with the coating. In thisspecific example, the sensor can be in front of the ultrasonic emitter;the ultrasonic emitter can be in front of the light source; and thelight source can be in front of the coating removal mechanism. However,the components can be arranged in any suitable order. In this example,the light source, the ultrasonic emitter, and the coating removalmechanism can each be coupled to the housing by a set of springs biasingthe light source, the ultrasonic emitter, and the coating removalmechanism toward the opening. In this example, the housing can besupported by a robotic arm 153 (e.g., having six degrees of freedom).However, the system can be arranged in any suitable manner.

In a third specific example, a method for removing a coating from anunderlying layer can include generating a weakened coating and removingthe weakened coating. The method can include measuring a propertyassociated with the coating. In this example, the weakened coating canbe generated by a wave-based coating weakening system. Generating aweakened coating can include illuminating the coating withelectromagnetic radiation from a light source. Illuminating the coatingcan include heating the coating. The coating can be heated to atemperature below the vaporization temperature of the coating, to atemperature below a degradation temperature of the coating, to atemperature that does not adversely impact the underlying layer (e.g.,the substrate), and/or to any suitable temperature. Illuminating thecoating can include adjusting a wavelength of the electromagneticradiation based on the property. The light source can be an infrared(IR) light source. The electromagnetic radiation can correspond to anabsorption of the coating. In this example, generating a weakenedcoating can include transmitting acoustic waves from an ultrasonicemitter to the coating. The method can include dynamically adjusting aseparation distance between the coating and at least one of the lightsource and the ultrasonic emitter based on the property associated withthe coating. Removing the coating can remove the weakened coating in aunitary piece. The method can include repeating generating the weakenedcoating and removing the coating for each location of the coating.

However, the system and/or method can be arranged and/or performed inany suitable manner.

Embodiments of the system and/or method can include every combinationand permutation of the various system components and the various methodprocesses, wherein one or more instances of the method and/or processesdescribed herein can be performed asynchronously (e.g., sequentially),concurrently (e.g., in parallel), or in any other suitable order byand/or using one or more instances of the systems, elements, and/orentities described herein.

As a person skilled in the art will recognize from the previous detaileddescription and from the figures and claims, modifications and changescan be made to the preferred embodiments of the invention withoutdeparting from the scope of this invention defined in the followingclaims.

We claim:
 1. A system for removing a coating from an underlying layer,the system comprising: a housing defining an opening, wherein theopening is configured to be adjacent to the coating; a light sourceconfigured to emit electromagnetic radiation directed toward theopening, wherein the light source is coupled to the housing; anultrasonic emitter configured to emit ultrasonic waves directed towardthe opening, wherein the ultrasonic emitter is coupled to the housing; acoating removal mechanism configured to remove the coating from theunderlying layer, wherein the coating removal mechanism is coupled tothe housing; and a sensor configured to determine a property associatedwith the coating, wherein a system operation parameter is determinedbased on the property.
 2. The system of claim 1, wherein the ultrasonicemitter is operable between: a contact mode wherein the ultrasonicemitter directly contacts the coating; and a noncontact mode wherein theultrasonic emitter is a distance above the coating.
 3. The system ofclaim 2, wherein the ultrasonic emitter is operable in the contact modewhen the coating has a first coating property and is operable in thenoncontact mode when the coating has a second coating property,different from the first coating property.
 4. The system of claim 2,wherein the sensor is coupled to the ultrasonic emitter, wherein thesensor comprises a pressure sensor configured to measure a contactpressure between the ultrasonic emitter and the coating.
 5. The systemof claim 1, wherein the ultrasonic emitter is separate from the coatingremoval mechanism.
 6. The system of claim 1, further comprising: acoupling medium reservoir; and a coupling medium dispenser in fluidcommunication with the coupling medium reservoir, the coupling mediumdispenser comprising an outlet arranged in front of the ultrasonicemitter.
 7. The system of claim 6, further comprising a separatorbetween the outlet and the light source.
 8. The system of claim 1,wherein the light source comprises an infrared (IR) light source,wherein the electromagnetic radiation is IR radiation, wherein a portionof the IR radiation matched to an absorption of the coating.
 9. Thesystem of claim 8, wherein the IR light source comprises at least one ofa short-wavelength IR cassette, a mid-wavelength IR cassette, and along-wavelength IR cassette; wherein the short-wavelength IR cassetteemits optical radiation with a wavelength between 0.7 and threemicrometers (μm); wherein the mid-wavelength IR cassette emits opticalradiation with a wavelength between three and eight μm; and wherein thelong-wavelength IR cassette emits optical radiation with a wavelengthbetween eight and fifteen μm.
 10. The system of claim 9, wherein theshort-wavelength IR cassette is simultaneously operable with themid-wavelength IR cassette.
 11. The system of claim 1, wherein thecoating removal mechanism comprises a friction wheel.
 12. The system ofclaim 1, wherein the sensor is mounted to a leading end of the housing,wherein the ultrasonic emitter is behind the sensor, wherein the lightsource is behind the ultrasonic emitter, and wherein the coating removalmechanism is behind the light source.
 13. The system of claim 1, whereinthe light source, the ultrasonic emitter, and the coating removalmechanism are coupled to the housing by a set of springs biasing thelight source, the ultrasonic emitter, and the coating removal mechanismtoward the opening.
 14. The system of claim 1, wherein the housing issupported by a robotic arm comprising six degrees of freedom.
 15. Amethod for removing a coating from an underlying layer, the methodcomprising: a) weakening the coating by: illuminating the coating withelectromagnetic radiation from a light source, wherein a portion of theelectromagnetic radiation corresponds to an absorption of the coating;and transmitting acoustic waves from an ultrasonic emitter to thecoating; and b) removing the weakened coating from the underlying layer.16. The method of claim 15, further comprising dynamically adjusting aseparation distance between the coating and at least one of the lightsource and the ultrasonic emitter based on a property associated withthe coating.
 17. The method of claim 15, wherein illuminating thecoating further comprises heating the coating to a temperature below adegradation temperature of the coating, wherein the light sourcecomprises an infrared (IR) light source.
 18. The method claim 17,further comprising measuring a property associated with the coating,wherein illuminating the coating further comprises adjusting awavelength of the electromagnetic radiation based on the propertyassociated with the coating.
 19. The method of claim 15, whereinremoving the weakened coating comprises removing the weakened coating ina unitary piece.
 20. The method of claim 15, further comprisingrepeating a)-b) for each location of the coating.